challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java

   1 package org.usfirst.frc.team3501.robot.commands;
   2
   3 import org.usfirst.frc.team3501.robot.Constants.Defense;
   4
   5 import edu.wpi.first.wpilibj.command.CommandGroup;
   6
   7 /**
   8  * The default autonomous strategy involves passing the defense that is in front
   9  * of it, aiming the robot/ shooter towards the goal, and shooting.
  10  */
  11
  12 public class DefaultAutonStrategy extends CommandGroup {
  13
  14   public DefaultAutonStrategy(int position, Defense defense) {
  15
  16     switch (defense) {
  17
  18     case PORTCULLIS:
  19
  20       addSequential(new LiftPortcullis());
  21
  22     case SALLY_PORT:
  23
  24       addSequential(new PassSallyPort());
  25
  26     case ROUGH_TERRAIN:
  27
  28       addSequential(new PassRoughTerrain());
  29
  30     case LOW_BAR:
  31
  32       addSequential(new PassLowBar());
  33
  34     case CHEVAL_DE_FRISE:
  35
  36       addSequential(new PassChevalDeFrise());
  37
  38     case DRAWBRIDGE:
  39
  40       addSequential(new PassDrawBridge());
  41
  42     case MOAT:
  43
  44       addSequential(new PassMoat());
  45
  46     case ROCK_WALL:
  47
  48       addSequential(new PassRockWall());
  49
  50     case RAMPART:
  51
  52       addSequential(new PassRampart());
  53
  54     default:
  55       break;
  56     }
  57
  58     addSequential(new AimAndAlign());
  59     addSequential(new Shoot());
  60
  61   }
  62
  63 }